CN-122006217-A - Control system and method based on multi-perception steering and path planning

CN122006217ACN 122006217 ACN122006217 ACN 122006217ACN-122006217-A

Abstract

The invention discloses a control system and a control method based on multi-perception steering and path planning. The horizontal steering movement data and the longitudinal movement data of a user are collected by utilizing a multi-perception steering mechanism comprising a control rod, a longitudinal movement unit and a horizontal steering unit, and a program control steering mode or a manual steering mode is selected to be activated based on a preset training level. In the manual steering mode, the user is guided to control the control rod to execute steering and/or longitudinal movement, a training path is generated according to acquired data, and limb training is realized by controlling the virtual motion carrier. The method integrates multi-mode steering and personalized path planning, improves training pertinence and interestingness, and realizes fine interactive control.

Inventors

DU HAO
TANG DUN
WANG WEI

Assignees

上海术理智能科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260212

Claims (10)

1. Control system based on multi-perception steering and path planning, characterized in that it comprises: The multi-perception steering mechanism comprises a control rod, a longitudinal movement unit and a horizontal steering unit, and is used for assisting a user to complete longitudinal movement and horizontal steering movement by using the control rod through the longitudinal movement unit and the horizontal steering unit and collecting limb movement data of the user, wherein the limb movement data comprise horizontal steering movement data and longitudinal movement data; The path planning module is used for generating a following path and a training path under the Frenet coordinate system; The control module is configured to select and activate a program-controlled steering mode or a manual steering mode based on a preset user training level, generate a following path based on a Frenet coordinate system in the program-controlled steering mode, and automatically control the motion of a virtual motion carrier according to the following path; Under the manual steering mode, a user is guided to control the control rod to execute steering action and/or longitudinal movement, a training path is generated based on a Frenet coordinate system according to the collected horizontal steering movement data and/or longitudinal movement data, and movement of the virtual movement carrier is controlled according to the training path, so that the user can complete limb training movement corresponding to limbs.
2. The control system of claim 1, wherein the multi-sensing steering mechanism further comprises a sensor module comprising a pressure sensor for collecting user limb effort data; The control module is further configured to determine a magnitude of the force feedback, the force feedback being dynamically adjusted based on at least one of the following path, a training path, a motion state of the virtual motion carrier, and the limb motion data or the limb effort data of a user; the force feedback module is used for outputting the force feedback to a user through the longitudinal movement unit and/or the horizontal steering unit in the training process.
3. The control system of claim 1, wherein the multi-sensing steering mechanism comprises a sensor module comprising an electronic angle sensor and an inertial measurement unit for acquiring the limb movement data.
4. The control system of claim 1, wherein the control module is configured to perform a multisensory data fusion mechanism comprising: generating a pre-instruction based on the forward and backward angles and the steering angular velocity after Kalman filtering fusion; And carrying out weighted fusion on the pre-instruction and the actual steering angle fed back by the electronic angle sensor in the multi-perception steering mechanism to generate a final steering instruction.
5. The control system of claim 4, wherein the control module is configured to execute sensitivity steering control logic comprising applying different sensitivity magnification factors to control the motion of the virtual motion carrier based on a current speed of the virtual motion carrier and a magnitude of the steering angle after Kalman filtering fusion.
6. The control system of claim 5, further comprising a map management system, the path planning module being connected to the map management system; the map management system is used for storing, managing and updating various virtual environment maps; The path planning module generates the corresponding path reference line or training path under the Frenet coordinate system based on the current virtual environment map acquired from the map management system.
7. The control method based on multi-perception steering and path planning is characterized by comprising the following steps: The method comprises the steps that limb movement data of a user are collected by utilizing a multi-perception steering mechanism, wherein the multi-perception steering mechanism comprises a control rod, a longitudinal movement unit and a horizontal steering unit, the multi-perception steering mechanism is used for assisting the user to complete longitudinal movement and horizontal steering movement by utilizing the control rod through the longitudinal movement unit and the horizontal steering unit, and the limb movement data comprise horizontal steering movement data and longitudinal movement data; selecting and activating a program-controlled steering mode or a manual steering mode based on a preset user training level; In the program-controlled steering mode, generating a following path based on a Frenet coordinate system, and automatically controlling the motion of a virtual motion carrier according to the following path; And in the manual steering mode, guiding a user to control the control rod to execute steering action and/or longitudinal movement, generating a training path based on a Frenet coordinate system according to the collected horizontal steering movement data and/or longitudinal movement data, and controlling the movement of the virtual movement carrier according to the training path.
8. The control method of claim 7, further comprising collecting limb effort data of a user via the multi-sensing steering mechanism; During training, force feedback is output to the user by the longitudinal movement unit and/or the horizontal steering unit, the force feedback being dynamically adjusted based on at least one of the following path, the training path, the movement state of the virtual movement carrier, and the limb movement data or the limb effort data of the user.
9. The control method according to claim 7, characterized in that generating the following path based on the Frenet coordinate system includes: Decomposing the motion of the virtual motion vector into a longitudinal motion along the reference line direction and a transverse motion perpendicular to the reference line direction in a Frenet coordinate system; generating a transverse track and a longitudinal track based on a polynomial model respectively; and screening an optimal path from the candidate tracks through a cost function to serve as the following path.
10. The control method according to claim 8, further comprising a mode switching step of automatically switching between a programmed steering mode and a manual steering mode according to the magnitude of the acquired limb effort data and/or steering angular velocity change in limb movement data.

Description

Control system and method based on multi-perception steering and path planning Technical Field The invention relates to the technical field of interactive control, in particular to a control system and a control method based on multi-perception steering and path planning. Background The conventional bicycle training equipment generally adopts a passive or active movement mode, performs muscle strength training through the reciprocating movement of the upper limbs or the lower limbs of a user, and is widely applied to sports training scenes such as daily physical exercise, limb function strengthening and the like. However, the existing equipment and the matched control mode have the following defects that the user's fine and personalized exercise training requirements are difficult to meet: 1. The training mode is single and boring, the user participation degree is low, the user only repeatedly performs pedaling or rotating actions, the training process lacks immersion feeling and interestingness, the enthusiasm of exercise training is difficult to maintain for a long time, the overall training effect is further influenced, and the current situation cannot be improved because the existing control mode is not combined with the scene interactive design. 2. The existing equipment is not provided with an accurate path planning control system, the training path and difficulty can not be dynamically adjusted according to the exercise training stage, physical energy level and training target of the user, the personalized needs of different users are difficult to adapt, and the fine control of the training process can not be realized. 3. The steering control is absent and single in perception, the traditional equipment is not provided with a perfect steering mechanism and a corresponding multi-perception control module, only can realize unidirectional reciprocating motion, can not train shoulder and neck muscle groups of a user in a targeted manner, is difficult to train hand fine muscle groups, and causes insufficient comprehensiveness of exercise training, meanwhile, the traditional equipment is lack of multi-dimensional perception feedback, can not accurately capture steering operation intention of the user, and has poor control response accuracy and flexibility. Therefore, a control system and a method which can integrate multi-perception steering control and personalized path planning, adapt to sports training scenes, are beneficial to improving user engagement and controlling refinement are needed, and the defects of the existing equipment and control modes are overcome. Disclosure of Invention The invention aims to provide a control system and a control method based on multi-perception steering and path planning, aiming at the technical problems that the prior art lacks a system and a method for controlling the multi-mode steering and path planning in a fused manner and can improve the participation of users. In order to achieve the technical purpose, the following technical scheme is adopted in the embodiment of the application. In a first aspect, an embodiment of the present application provides a control system based on multi-perception steering and path planning, including: The multi-perception steering mechanism comprises a control rod, a longitudinal movement unit and a horizontal steering unit, and is used for assisting a user to complete longitudinal movement and horizontal steering movement by using the control rod through the longitudinal movement unit and the horizontal steering unit and collecting limb movement data of the user, wherein the limb movement data comprise horizontal steering movement data and longitudinal movement data; The path planning module is used for generating a following path and a training path under the Frenet coordinate system; The control module is configured to select and activate a program-controlled steering mode or a manual steering mode based on a preset user training level, generate a following path based on a Frenet coordinate system in the program-controlled steering mode, automatically control the motion of a virtual motion carrier according to the following path, and simultaneously drive the control rod to perform longitudinal motion according to the longitudinal motion parameter according to the matching longitudinal motion parameter of the following path so as to drive a user to complete limb training motion corresponding to limbs; Under the manual steering mode, a user is guided to control the control rod to execute steering action and/or longitudinal movement, a training path is generated based on a Frenet coordinate system according to the collected horizontal steering movement data and/or longitudinal movement data, and movement of the virtual movement carrier is controlled according to the training path, so that the user can complete limb training movement corresponding to limbs. In a second aspect, the embodiment of the application provides a control meth